#!/usr/bin/env python3
# -*- coding: utf-8 -*-
# BSD 3-Clause License

# Copyright (c) 2016 ~ 2025, NXROBO Ltd.
# All rights reserved.

# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:

# 1. Redistributions of source code must retain the above copyright notice, this
#    list of conditions and the following disclaimer.

# 2. Redistributions in binary form must reproduce the above copyright notice,
#    this list of conditions and the following disclaimer in the documentation
#    and/or other materials provided with the distribution.

# 3. Neither the name of the copyright holder nor the names of its
#    contributors may be used to endorse or promote products derived from
#    this software without specific prior written permission.

# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
import rospy
from std_msgs.msg import String
import subprocess


class VoiceTTS:
    def __init__(self):
        rospy.init_node('ekho_tts')
        
        # Subscribe to the /voice/tts topic.
        rospy.Subscriber('/voice/tts', String, self.tts_callback)        
        rospy.loginfo("Ready to receive TTS")       
                    

        
    def tts_callback(self, msg):        
        # Log the tts to the screen
        rospy.loginfo("TTS: " + str(msg.data))
	subprocess.call(["ekho",msg.data])
        


if __name__=="__main__":
    try:
        VoiceTTS()
        rospy.spin()
    except rospy.ROSInterruptException:
        rospy.loginfo("TTS terminated.")
